Merge pull request #14800 from FanaticsKang:add_undistortPoint_test

Test request by #14583 (#14800)

* add test to show the undistort bug

* move test to calib3d

modules/calib3d/test/test_undistort_points.cpp

@@ -119,4 +119,30 @@ TEST(Calib3d_Undistort, stop_criteria)
     ASSERT_LE(obtainedError, maxError);
 }
 
+TEST(undistortPoints, regression_14583)
+{
+    const int col = 720;
+    // const int row = 540;
+    float camera_matrix_value[] = {
+        437.8995f, 0.0f, 342.9241f,
+        0.0f, 438.8216f, 273.7163f,
+        0.0f, 0.0f,      1.0f
+    };
+    cv::Mat camera_interior(3, 3, CV_32F, camera_matrix_value);
+
+    float camera_distort_value[] = {-0.34329f, 0.11431f, 0.0f, 0.0f, -0.017375f};
+    cv::Mat camera_distort(1, 5, CV_32F, camera_distort_value);
+
+    float distort_points_value[] = {col, 0.};
+    cv::Mat distort_pt(1, 1, CV_32FC2, distort_points_value);
+
+    cv::Mat undistort_pt;
+    cv::undistortPoints(distort_pt, undistort_pt, camera_interior,
+                        camera_distort, cv::Mat(), camera_interior);
+
+    EXPECT_NEAR(distort_pt.at<Vec2f>(0)[0], undistort_pt.at<Vec2f>(0)[0], col / 2)
+        << "distort point: " << distort_pt << std::endl
+        << "undistort point: " << undistort_pt;
+}
+
 }} // namespace